U.S. patent application number 17/638209 was filed with the patent office on 2022-09-15 for secondary battery unit and humanoid robot.
This patent application is currently assigned to KAWASAKI JUKOGYO KABUSHIKI KAISHA. The applicant listed for this patent is KAWASAKI JUKOGYO KABUSHIKI KAISHA. Invention is credited to Masayuki KAMON, Junichi KARASUYAMA, Yuki TANAKA, So YUKIZAKI.
Application Number | 20220294062 17/638209 |
Document ID | / |
Family ID | 1000006433757 |
Filed Date | 2022-09-15 |
United States Patent
Application |
20220294062 |
Kind Code |
A1 |
KAMON; Masayuki ; et
al. |
September 15, 2022 |
SECONDARY BATTERY UNIT AND HUMANOID ROBOT
Abstract
A secondary battery unit includes a first secondary battery
module disposed at at least either one of a front part or a back
part of a body of a humanoid robot, a second secondary battery
module disposed around the body in a direction intersecting with a
front-and-rear direction of the body, and a base coupling the first
secondary battery module to the second secondary battery module.
The base is detachably attached to the body, together with the
first secondary battery module and the second secondary battery
module.
Inventors: |
KAMON; Masayuki; (Kobe-shi,
JP) ; YUKIZAKI; So; (Kobe-shi, JP) ;
KARASUYAMA; Junichi; (Kobe-shi, JP) ; TANAKA;
Yuki; (Kobe-shi, JP) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
KAWASAKI JUKOGYO KABUSHIKI KAISHA |
Kobe-shi, Hyogo |
|
JP |
|
|
Assignee: |
KAWASAKI JUKOGYO KABUSHIKI
KAISHA
Kobe-shi, Hyogo
JP
|
Family ID: |
1000006433757 |
Appl. No.: |
17/638209 |
Filed: |
September 2, 2020 |
PCT Filed: |
September 2, 2020 |
PCT NO: |
PCT/JP2020/033231 |
371 Date: |
February 25, 2022 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B25J 19/007 20130101;
H01M 50/258 20210101; H01M 50/244 20210101 |
International
Class: |
H01M 50/244 20060101
H01M050/244; H01M 50/258 20060101 H01M050/258; B25J 19/00 20060101
B25J019/00 |
Foreign Application Data
Date |
Code |
Application Number |
Sep 2, 2019 |
JP |
2019-159762 |
Claims
1. A secondary battery unit, comprising: a first secondary battery
module disposed at at least either one of a front part or a back
part of a body of a humanoid robot; a second secondary battery
module disposed around the body in a direction intersecting with a
front-and-rear direction of the body; and a base coupling the first
secondary battery module to the second secondary battery module,
wherein the base is detachably attached to the body, together with
the first secondary battery module and the second secondary battery
module.
2. The secondary battery unit of claim 1, wherein the first
secondary battery module and the second secondary battery module
are disposed so as to surround the body.
3. The secondary battery unit of claim 1, wherein the second
secondary battery module is disposed at a side part of the
body.
4. The secondary battery unit of claim 1, wherein the second
secondary battery module includes a plurality of second secondary
battery modules, the plurality of second secondary battery modules
being disposed at an upper part and a side part of the body.
5. The secondary battery unit of claim 1, wherein the base
includes: a first accommodating part configured to accommodate the
first secondary battery module; a first fixing part configured to
fix the first secondary battery module to the first accommodating
part; a second accommodating part configured to accommodate the
second secondary battery module; and a second fixing part
configured to fix the second secondary battery module to the second
accommodating part.
6. The secondary battery unit of claim 5, wherein, in a state where
the secondary battery unit is attached to the body, the first
accommodating part and the second accommodating part are disposed
so as to open outwardly from the body so that accommodation and
removal of the first secondary battery module and the second
secondary battery module from outside the body are possible.
7. The secondary battery unit of claim 1, wherein the base includes
a fitting part configured to detachably fit to the body.
8. A humanoid robot, comprising: the secondary battery unit of
claim 1; and the body.
9. The secondary battery unit of claim 2, wherein the second
secondary battery module is disposed at a side part of the
body.
10. The secondary battery unit of claim 2, wherein the second
secondary battery module includes a plurality of second secondary
battery modules, the plurality of second secondary battery modules
being disposed at an upper part and a side part of the body.
11. The secondary battery unit of claim 2, wherein the base
includes: a first accommodating part configured to accommodate the
first secondary battery module; a first fixing part configured to
fix the first secondary battery module to the first accommodating
part; a second accommodating part configured to accommodate the
second secondary battery module; and a second fixing part
configured to fix the second secondary battery module to the second
accommodating part.
12. The secondary battery unit of claim 11, wherein, in a state
where the secondary battery unit is attached to the body, the first
accommodating part and the second accommodating part are disposed
so as to open outwardly from the body so that accommodation and
removal of the first secondary battery module and the second
secondary battery module from outside the body are possible.
13. The secondary battery unit of claim 3, wherein the base
includes: a first accommodating part configured to accommodate the
first secondary battery module; a first fixing part configured to
fix the first secondary battery module to the first accommodating
part; a second accommodating part configured to accommodate the
second secondary battery module; and a second fixing part
configured to fix the second secondary battery module to the second
accommodating part.
14. The secondary battery unit of claim 13, wherein, in a state
where the secondary battery unit is attached to the body, the first
accommodating part and the second accommodating part are disposed
so as to open outwardly from the body so that accommodation and
removal of the first secondary battery module and the second
secondary battery module from outside the body are possible.
15. The secondary battery unit of claim 4, wherein the base
includes: a first accommodating part configured to accommodate the
first secondary battery module; a first fixing part configured to
fix the first secondary battery module to the first accommodating
part; a second accommodating part configured to accommodate the
second secondary battery module; and a second fixing part
configured to fix the second secondary battery module to the second
accommodating part.
16. The secondary battery unit of claim 15, wherein, in a state
where the secondary battery unit is attached to the body, the first
accommodating part and the second accommodating part are disposed
so as to open outwardly from the body so that accommodation and
removal of the first secondary battery module and the second
secondary battery module from outside the body are possible.
17. The secondary battery unit of claim 9, wherein the base
includes: a first accommodating part configured to accommodate the
first secondary battery module; a first fixing part configured to
fix the first secondary battery module to the first accommodating
part; a second accommodating part configured to accommodate the
second secondary battery module; and a second fixing part
configured to fix the second secondary battery module to the second
accommodating part.
18. The secondary battery unit of claim 17, wherein, in a state
where the secondary battery unit is attached to the body, the first
accommodating part and the second accommodating part are disposed
so as to open outwardly from the body so that accommodation and
removal of the first secondary battery module and the second
secondary battery module from outside the body are possible.
19. The secondary battery unit of claim 10, wherein the base
includes: a first accommodating part configured to accommodate the
first secondary battery module; a first fixing part configured to
fix the first secondary battery module to the first accommodating
part; a second accommodating part configured to accommodate the
second secondary battery module; and a second fixing part
configured to fix the second secondary battery module to the second
accommodating part.
20. The secondary battery unit of claim 19, wherein, in a state
where the secondary battery unit is attached to the body, the first
accommodating part and the second accommodating part are disposed
so as to open outwardly from the body so that accommodation and
removal of the first secondary battery module and the second
secondary battery module from outside the body are possible.
Description
CROSS-REFERENCE TO RELATED APPLICATION
[0001] This application claims the priority of Japanese Patent
Application No. 2019-159762 filed in the Japan Patent Office on
Sep. 2, 2019, which is hereby incorporated by reference in its
entirety.
TECHNICAL FIELD
[0002] The present disclosure relates to a secondary battery unit
and a humanoid robot.
BACKGROUND ART
[0003] Conventionally, bipedal humanoid robots which carries a
secondary battery as a power supply are known. For example, Patent
Document 1 discloses a bipedal robot which carries a secondary
battery on the back of an upper body. According to Patent Document
1, the secondary battery is comprised of, for downsizing of the
external shape of the secondary battery, a small-capacity secondary
battery module at the center, and large-capacity secondary battery
modules on both sides of the small-capacity secondary battery
module.
[0004] [Reference Document of Conventional Art]
[0005] [Patent Document]
[0006] [Patent Document 1] JP2002-120187A
DESCRIPTION OF THE DISCLOSURE
[0007] When the secondary battery for supplying the power to the
robot is disposed on the back of the robot like the bipedal robot
disclosed in Patent Document 1, the heavy secondary battery
projects greatly from the rear. For this reason, the
center-of-gravity position of the robot carrying the secondary
battery is offset greatly rearward from the center axis of the
robot in an up-and-down direction. Therefore, a balance control in
the posture of the robot becomes complicated and difficult.
[0008] Thus, one purpose of the present disclosure is to provide a
secondary battery unit and a humanoid robot, capable of reducing an
offset of the center-of-gravity position of the humanoid robot.
[0009] In order to achieve the purpose, a secondary battery unit
according to one aspect of the present disclosure includes a first
secondary battery module disposed at at least either one of a front
part or a back part of a body of a humanoid robot, a second
secondary battery module disposed around the body in a direction
intersecting with a front-and-rear direction of the body, and a
base coupling the first secondary battery module to the second
secondary battery module. The base is detachably attached to the
body, together with the first secondary battery module and the
second secondary battery module.
[0010] A humanoid robot according to another aspect of the present
disclosure includes the secondary battery unit according to the one
aspect of the present disclosure, and the body.
[0011] According to the technique of the present disclosure, an
offset of the center-of-gravity position of the humanoid robot can
be reduced.
BRIEF DESCRIPTION OF DRAWINGS
[0012] FIG. 1 is a perspective view illustrating one example of a
humanoid robot according to one embodiment, when seen from the
front.
[0013] FIG. 2 is a perspective view illustrating one example of a
configuration from a head to a lower body of the humanoid robot
according to this embodiment, when seen from the rear.
[0014] FIG. 3 is a perspective view illustrating one example of a
body of the humanoid robot according to this embodiment in a state
where cladding is removed, when seen from the rear.
[0015] FIG. 4 is a perspective view illustrating one example of the
body of the humanoid robot according to this embodiment in the
state where the cladding is removed, when seen from the rear.
[0016] FIG. 5 is a side view illustrating one example of the body
of the humanoid robot according to this embodiment in the state
where the cladding is removed, when seen from one side.
[0017] FIG. 6 is a perspective view illustrating one example of the
body in a state where a secondary battery unit is removed in FIG.
3.
[0018] FIG. 7 is a perspective view illustrating one example of a
configuration of the secondary battery unit according to this
embodiment.
MODE FOR CARRYING OUT THE DISCLOSURE
[0019] Hereinafter, one embodiment of the present disclosure is
described with reference to the drawings. Note that any embodiment
which will be described below illustrates a comprehensive or
concrete example. Further, among components in the following
embodiment, components that are not described in an independent
claim that illustrates the top concept will be described as
arbitrary components. Each of the accompanying drawings is a
schematic drawing, and is not necessarily illustrated exactly.
Further, in each drawing, the same reference characters are
assigned to substantially the same components, and redundant
explanation may be omitted or simplified. The term "device" as used
herein and the claims may not only mean a sole device, but also
mean a system comprised of a plurality of devices.
<Configuration of Humanoid Robot>
[0020] FIG. 1 is a perspective view illustrating one example of a
humanoid robot 1 according to this embodiment, when seen from the
front. FIG. 2 is a perspective view illustrating one example of a
configuration of the humanoid robot 1 according to this embodiment,
from a head 10 to a lower body 40, when seen from the rear. As
illustrated in FIGS. 1 and 2, the humanoid robot 1 according to
this embodiment has the head 10, a neck 20, an upper body 30, the
lower body 40, arms 50, and legs 60. The humanoid robot 1 is also
referred to as a "humanoid" or "bipedal robot," which is configured
to perform bipedal locomotion by controlling the drive of the legs
60. The humanoid robot 1 can also perform a work etc. similar to a
human, by driving the arms 50 and the legs 60 to move hand parts at
tip ends of the arms 50 and foot parts at tip ends of the legs
60.
[0021] Each of the arm 50 and the leg 60 has a plurality of links
and joints which bendably connect the plurality of links,
respectively. Each of the arm 50 and the leg 60 carry out the
bending motion by adjacent links bending with respect to each other
via the joint. The upper body 30 and the lower body 40 are
connected to each other so as to be bendable via a joint 70. The
upper body 30 can carry out a forward bending motion, a rearward
bending motion, and a circumnutating motion to the left and right,
with respect to the lower body 40. The lower body 40 may correspond
to a human's pelvis, and the joint 70 may correspond to a human's
waist. A drive is provided to each joint and it drives the bending
motion or the circumnutating motion of the joint. The drive has a
drive source, such as an electric motor such as a servomotor, and
an actuator. In response to a control of operation thereof, the
drive bends the link in a desired bending direction at a desired
bending angle, or bends the upper body 30 in a desired bending
direction at a desired bending angle and circumnutates the upper
body 30 in a desired turning direction at a desired turning
angle.
[0022] The upper body 30 is covered with cladding 31. For example,
the cladding 31 is a plate-like cover. Note that, in FIG. 2, the
cladding 31 is illustrated in a state where it is partially cut
off. The humanoid robot 1 has a secondary battery unit 100 in the
upper body 30 inside the cladding 31. The secondary battery unit
100 stores electricity, and supplies the power to devices which use
power as a power source, such as the drive of the humanoid robot 1.
The secondary battery unit 100 receives the supply of the power by
being connected with an external power supply of the humanoid robot
1, and accumulates the power.
<Configuration of Secondary Battery Unit>
[0023] A configuration of the secondary battery unit 100 is
described. FIGS. 3 and 4 are perspective views illustrating one
example of the upper body 30 in the state where the cladding 31 of
the humanoid robot 1 according to this embodiment is removed, when
seen from the rear. FIG. 5 is a side view illustrating one example
of the upper body 30 in the state where the cladding 31 of the
humanoid robot 1 according to this embodiment is removed, when seen
from one side. FIG. 6 is a perspective view illustrating one
example of the upper body 30 in the state where the secondary
battery unit 100 is removed in FIG. 3.
[0024] As illustrated in FIGS. 3 to 5, the secondary battery unit
100 is detachably attached to a back part of the upper body 30.
Here, back parts of the upper body 30 and the lower body 40
correspond to the back and the buttocks of the humanoid robot 1,
respectively, and is a part of the upper body 30 in the rearward
bending direction. Front parts of the upper body 30 and the lower
body 40 correspond to the chest and the abdomen of the humanoid
robot 1, respectively. Further, on the basis of the humanoid robot
1 in the upright position, the rearward bending direction is
referred to as a "back direction BD," the forward bending direction
is referred to as a "front direction FD," the right side with
respect to the front direction FD is referred to as a "right
direction RD," and the left side with respect to the front
direction FD is referred to as a "left direction LD."
[0025] The secondary battery unit 100 includes secondary battery
modules 110-130 and a base 140. The secondary battery module 110 is
a top secondary battery module disposed at an upper part of the
upper body 30. The secondary battery module 120 is a back secondary
battery module disposed at a back part of the upper body 30. The
secondary battery module 130 is a side secondary battery module
disposed at a side part of the upper body 30. The base 140 couples
the secondary battery modules 110-130 to each other, and is
detachably attached to the upper body 30 together with the
secondary battery modules 110-130.
[0026] The top secondary battery module 110 and the side secondary
battery module 130 are disposed around the upper body 30 in a
direction which intersects with the front-and-rear direction of the
upper body 30. For example, the top secondary battery module 110
and the side secondary battery module 130 are disposed around the
upper body 30 in a direction perpendicular to the front-and-rear
direction of the upper body 30. Such secondary battery modules
110-130 are disposed so as to surround the upper body 30. The back
secondary battery module 120 is one example of a "first secondary
battery module," and the top secondary battery module 110 and the
side secondary battery module 130 are examples of a "second
secondary battery module."
[0027] Each of the secondary battery modules 110-130 includes one
or more secondary batteries 150. Each of the secondary battery
modules 110-130 may include one or more integrated secondary
batteries 150, or may include one or more separated secondary
batteries 150. The secondary battery 150 is also referred to as a
"rechargeable battery" which is electrically chargeable and
dischargeable. The secondary battery 150 may be comprised of a lead
secondary battery, a lithium-ion rechargeable battery, a
nickel-hydrogen secondary battery, or a nickel-cadmium secondary
battery.
[0028] The top secondary battery module 110 is comprised of a pair
of top secondary battery modules 110a and 110b. The top secondary
battery modules 110a and 110b are disposed on left and right
shoulders 32a and 32b of the upper body 30 of the humanoid robot 1,
respectively. Below, when distinguishing the two top secondary
battery modules, they are expressed as "the top secondary battery
module 110a" and "the top secondary battery module 110b," and when
not distinguishing therebetween, each is expressed as "the top
secondary battery module 110."
[0029] As illustrated in FIGS. 3 and 6, the shoulders 32a and 32b
are provided to the upper body 30, and they are the joint parts
between the left and right arms 50 and the upper body 30,
respectively. Each of the shoulders 32a and 32b includes a joint 33
to which the arm 50 is connected, and a drive 34 for the joint 33.
The drive 34 includes a servomotor 34a and a reduction gear 34b.
The reduction gear 34b slows down a rotational speed of a
rotational driving force of the servomotor 34a while increasing the
rotational driving force, and transmits the rotational driving
force to the joint 33. For example, the rotational driving force of
the reduction gear 34b may be transmitted to the joint 33 via a
drive belt or a gear mechanism.
[0030] As illustrated in FIGS. 3 to 5, the side secondary battery
module 130 is comprised of a pair of side secondary battery modules
130a and 130b. The side secondary battery modules 130a and 130b are
disposed at the left and right side parts of the upper body 30 of
the humanoid robot 1, respectively. The side secondary battery
modules 130a and 130b are disposed below the shoulders 32a and 32b,
respectively. The side secondary battery modules 130a and 130b are
disposed below the top secondary battery modules 110a and 110b,
respectively. Note that the terms "up(ward)" and "above" as used
herein refer to a direction from the legs 60 to the head 10 of the
humanoid robot 1 in the upright position, and the terms
"down(ward)" and "below" as used herein refer to a direction from
the head 10 to the legs 60 of the humanoid robot 1. Below, when
distinguishing the two side secondary battery modules from each
other, they are expressed as "the side secondary battery module
130a" and "the side secondary battery module 130b," and when not
distinguishing therebetween, each are expressed as "the side
secondary battery module 130."
[0031] The single back secondary battery module 120 is disposed at
a position between the pair of top secondary battery modules 110a
and 110b, and between the pair of side secondary battery modules
130a and 130b. In this embodiment, the top secondary battery
modules 110a and 110b are disposed at equidistance positions in the
left direction LD and the right direction RD, centering on the back
secondary battery module 120. The side secondary battery modules
130a and 130b are disposed at equidistance positions in the left
direction LD and the right direction RD, centering on the back
secondary battery module 120.
[0032] FIG. 7 is a perspective view illustrating one example of a
configuration of the secondary battery module 100 according to this
embodiment. As illustrated in FIG. 7, the base 140 is a frame-like
member. The base 140 detachably carries the top secondary battery
modules 110a and 110b, the back secondary battery module 120, and
the side secondary battery modules 130a and 130b. Such a base 140
may be made of non-conductive material, such as plastic or
resin.
[0033] The base 140 includes a top left accommodating part 141a,
top left fixing parts 141aa, a top right accommodating part 141b,
top right fixing parts 141ba, a back accommodating part 142, back
fixing parts 142a, a side left accommodating part 143a, side left
fixing parts 143aa, a side right accommodating part 143b, and side
right fixing parts 143ba. The back accommodating part 142 is one
example of a "first accommodating part," and the back fixing part
142a is one example of a "first fixing part." The top left
accommodating part 141a, the top right accommodating part 141b, the
side left accommodating part 143a, and the side right accommodating
part 143b are examples of a "second accommodating part." The top
left fixing part 141aa, the top right fixing part 141ba, the side
left fixing part 143aa, and the side right fixing part 143ba are
examples of a "second fixing part."
[0034] In addition, the base 140 includes a first left
accommodation connecting part 144a which couples the top left
accommodating part 141a to the side left accommodating part 143a, a
second left accommodation connecting part 145a which couples the
top left accommodating part 141a to the back accommodating part
142, a third left accommodation connecting part 146a which couples
the back accommodating part 142 to the side left accommodating part
143a, a first right accommodation connecting part 144b which
couples the top right accommodating part 141b to the side right
accommodating part 143b, a second right accommodation connecting
part 145b which couples the top right accommodating part 141b to
the back accommodating part 142, and a third right accommodation
connecting part 146b which couples the back accommodating part 142
to the side right accommodating part 143b.
[0035] In this embodiment, although the first left accommodation
connecting part 144a, the second left accommodation connecting part
145a, the first right accommodation connecting part 144b, and the
second right accommodation connecting part 145b extend in the
up-and-down direction, while the secondary battery unit 100 is
attached to the upper body 30 in the upright position, their
extending direction may be directions other than the up-and-down
direction. Although the third left accommodation connecting part
146a and the third right accommodation connecting part 146b extend
in the left-and-right direction, their extending direction may be
directions other than the left-and-right direction.
[0036] Each of the accommodating parts 141a, 141b, 142, 143a, and
143b has a rectangular cylindrical shape with a bottom (i.e., has a
box shape which opens at one face), which accommodates the
secondary battery modules 110a, 110b, 120, 130a, and 130b of a
rectangular parallelepiped shape. Further, each of the
accommodating parts 141a, 141b, 142, 143a, and 143b opens outwardly
from the upper body 30 in the state where the secondary battery
unit 100 is attached to the upper body 30. Thus, in the state where
the secondary battery unit 100 is attached to the upper body 30,
the secondary battery 150 can be accommodated into the
accommodating part from outside the upper body 30, and can be
removed as well (i.e., a replacement is possible).
[0037] The fixing parts 141aa, 141ba, 142a, 143aa, and 143ba are
disposed at the accommodating parts 141a, 141b, 142, 143a, and
143b, respectively. The fixing parts 141aa, 141ba, 142a, 143aa, and
143ba fix the secondary battery modules 110a, 110b, 120, 130a, and
130b which are accommodated in the accommodating parts 141a, 141b,
142, 143a, and 143b to the accommodating parts, respectively. In
this embodiment, although each of the fixing parts 141aa, 141ba,
142a, 143aa, and 143ba includes a belt-like Hook-and-Loop fastener
which detachably fixes the secondary battery modules 110a, 110b,
120, 130a, and 130b to the accommodating parts 141a, 141b, 142,
143a, and 143b, respectively, they may have any configuration as
long as the above-described fixation is possible. One example of
the Hook-and-Loop fastener is Velcro.RTM.. The belt-like
Hook-and-Loop fastener fixes the secondary battery module to the
accommodating part by being wound around the external surface of
the secondary battery module.
[0038] In this embodiment, the top left accommodating part 141a can
accommodate the top secondary battery module 110a including one
secondary battery 150. The top right accommodating part 141b can
accommodate the top secondary battery module 110b including one
secondary battery 150. The back accommodating part 142 can
accommodate the back secondary battery module 120 including two
secondary batteries 150. In the state where the secondary battery
unit 100 is attached to the upper body 30, the two secondary
batteries 150 accommodated in the back accommodating part 142 are
lined up in the left-and-right direction along the cladding 31 of
the upper body 30 so as not to project in the back direction BD.
The side left accommodating part 143a can accommodate the side
secondary battery module 130a including two secondary batteries
150. The side right accommodating part 143b can accommodate the
side secondary battery module 130b including two secondary
batteries 150. In the state where the secondary battery unit 100 is
attached to the upper body 30, the two secondary batteries 150
which are accommodated in the side accommodating parts 143a and
143b are lined up in the front-and-rear direction along the
cladding 31 of the upper body 30, so as not to project in the left
direction LD and the right direction RD, respectively. The center
of gravity in the state where it is attached to the upper body 30
in such a secondary battery unit 100 is located at a position which
is offset downwardly. But, the offset in the back direction BD is
suppressed.
[0039] The base 140 includes attaching parts 147a and 147b in the
first accommodation connecting parts 144a and 144b. The attaching
parts 147a and 147b are configured so as to detachably fit onto the
shoulders 32a and 32b, respectively. In this embodiment, although
the attaching parts 147a and 147b is comprised of a U-shaped member
which opens in the front direction FD, they may have any
configuration as long as they are detachably fixed to the shoulders
32a and 32b. The attaching parts 147a and 147b are examples of a
"fitting part."
[0040] The attaching parts 147a and 147b are configured to be
fitted onto to the drives 34 of the shoulders 32a and 32b in the
front direction FD from the rear, respectively. The attaching parts
147a and 147b fit onto outer circumferential surfaces of the drives
34 of the shoulders 32a and 32b from outside, and they are fixed to
the shoulders 32a and 32b, respectively. In this embodiment, each
of the attaching parts 147a and 147b fits onto upper and lower
outer circumferential surfaces of the drive 34. Further, a recess
147c formed in a lower part of each of the attaching parts 147a and
147b may be configured to engage or fit onto a protrusion 34c (see
FIG. 4) formed in the lower outer circumferential surface of the
drive 34. Therefore, each of the attaching parts 147a and 147b is
positioned with respect to the drive 34. Further, the recess 147c
and the protrusion 34c may be configured to fit or engage by snap
fit etc. so that they are not easily escaped from the fitting or
engagement state. The base 140 is fixed to the upper body 30 in the
up-and-down direction, the left-and-right direction, and the
front-and-rear direction by fitting the attaching parts 147a and
147b onto the shoulders 32a and 32b, respectively. The fitting of
the attaching parts 147a and 147b is released by pulling the
attaching parts 147a and 147b in the back direction BD,
respectively, and thereby, the base 140 is removed from the upper
body 30.
[0041] Such a base 140 may be comprised of a single member in which
parts continue so as to be integrated, or may be formed by
connecting a plurality of members. The secondary battery unit 100
constitutes a single module in which all the secondary battery
modules 110a, 110b, 120, 130a, and 130b, and the base 140 are
integrated. Since the base 140 is attachable to and detachable from
the upper body 30, the secondary battery unit 100 makes it possible
to attach and detach the secondary battery modules 110a, 110b, 120,
130a, and 130b to/from the upper body 30 all at once. Further, the
base 140 is configured to arrange the secondary battery modules
110a, 110b, 120, 130a, and 130b so as not to interfere with the
head 10, the neck 20, the shoulders 32a and 32b, and the joint 70,
avoiding their operating areas.
[0042] By connecting a terminal 160 extending from each of the
secondary battery modules 110a, 110b, 120, 130a, and 130b via a
cable (not illustrated) with a given terminal (not illustrated) of
the upper body 30, each of the secondary battery modules 110a,
110b, 120, 130a, and 130b is electrically connected with the
humanoid robot 1. Although in this embodiment a movable terminal of
the upper body 30 is connected to the terminal 160 fixed to the
base 140, a terminal 160 movable to the base 140 may be connected
to the terminal of the upper body 30.
[0043] Note that a fastener such as the Hook-and-Loop fastener may
be disposed at the terminal 160. Further, each terminal 160 may be
held by the fixing part 141aa, 141ba, 142a, 143aa, or 143ba, or
other constituent members via the fastener. Therefore, it becomes
possible to smoothly perform the attachment and detachment of the
secondary battery unit 100 to/from the upper body 30, without being
influenced by the terminal 160, the cable (not illustrated),
etc.
[0044] As illustrated in FIG. 6, the upper body 30 includes an
electrical equipment box 36 inside a skeleton frame 35 which
constitutes the frame of the upper body 30. The electrical
equipment box 36 includes, therein, the electrical equipment
including a circuit board which controls operation of each drive
etc. of the humanoid robot 1.
[0045] As illustrated in FIGS. 3, 6, and 7, in the secondary
battery unit 100 attached to the upper body 30, the back secondary
battery module 120 is adjacent to the electrical equipment box 36
via the back accommodating part 142 in the back direction BD from
the electrical equipment box 36. The side secondary battery module
130a is adjacent to the electrical equipment box 36 via the side
left accommodating part 143a in the left direction LD from the
electrical equipment box 36. The side secondary battery module 130b
is adjacent to the electrical equipment box 36 via the side right
accommodating part 143b in the right direction RD from the
electrical equipment box 36.
[0046] The back secondary battery module 120 and the side secondary
battery modules 130a and 130b also function as a protection member
of the electrical equipment box 36. Further, by making the base 140
from a resin with low thermal conductivity etc., heat transfer
between the electrical equipment box 36 and the back secondary
battery module 120 is suppressed, and heat transfer between the
electrical equipment box 36 and the side secondary battery modules
130a and 130b is suppressed. Therefore, the electrical equipment
inside the electrical equipment box 36 is suppressed from being
high in the temperature.
[0047] Moreover, the shoulders 32a and 32b project from the
electrical equipment box 36 in the left direction LD and the right
direction RD, respectively. The side secondary battery modules 130a
and 130b are fitted below the shoulders 32a and 32b so that they do
not project from the shoulders 32a and 32b in the left direction LD
and the right direction RD, respectively. That is, the side
secondary battery modules 130a and 130b are fitted in hollows
formed in the left and right flanks of the upper body 30,
respectively. Therefore, it is suppressed that the side secondary
battery modules 130a and 130b interfere with the left and right
arms 50.
<Effects etc.>
[0048] The secondary battery unit 100 according to the above
embodiment includes the back secondary battery module 120 disposed
on the back part which is at least either one of the front part or
the back part of the upper body 30 of the humanoid robot 1, the top
secondary battery module 110 and the side secondary battery module
130 disposed around the upper body 30 in the direction which
intersects with the front-and-rear direction of the upper body 30,
the base 140 which couples the secondary battery modules 110-130 to
each other. The base 140 is detachably attached to the upper body
30 along with the secondary battery modules 110-130.
[0049] According to the above configuration, the secondary battery
modules 110-130 are disposed so as to be distributed around the
upper body 30. Therefore, in the humanoid robot 1 carrying the
secondary battery unit 100, it may be suppressed that the
center-of-gravity position of the humanoid robot 1 is deviated and
offset from the center axis of the humanoid robot 1 (i.e., the
balance of the center of gravity is offset). For example, the
center axis of the humanoid robot 1 may be the axis which passes
through the head 10 and the neck 20 and extends in the up-and-down
direction, or may be the center axis when the humanoid robot 1
turns left and right. Further, the secondary battery modules
110-130 are collectively attached and detached to/from the upper
body 30, together with the base 140. Therefore, the attachment and
detachment of the secondary battery modules 110-130 become
easier.
[0050] The secondary battery modules 110-130 may be disposed so as
to surround the upper body 30. According to this configuration, the
secondary battery modules 110-130 can be disposed so as to be
distributed around the upper body 30.
[0051] The secondary battery modules 110 and 130 may be disposed at
the upper part and the side part of the upper body 30. According to
this configuration, the secondary battery modules 110-130 can be
disposed so as to be distributed to the upper part, the back part,
and the side part of the upper body 30.
[0052] The base 140 may include the attaching parts 147a and 147b
as the fitting parts which detachably fit onto the upper body 30 of
the humanoid robot 1. For example, the attaching parts 147a and
147b may be configured so as to fit onto the shoulders 32a and 32b
of the upper body 30, respectively. Further, the attaching parts
147a and 147b may be disposed at the first accommodation connecting
parts 144a and 144b of the base 140 which couple the top secondary
battery modules 110a and 110b and the side secondary battery
modules 130a and 130b, respectively. According to this
configuration, the attachment and detachment of the base 140
to/from the upper body 30 become easier.
[0053] Moreover, the top secondary battery modules 110a and 110b
may be disposed so as to be placed on the shoulders 32a and 32b of
the upper body 30. Note that the shoulders 32a and 32b may be joint
parts between the left and right arms 50 and the upper body 30 of
the humanoid robot 1. According to this configuration, the layout
of top secondary battery modules 110a and 110b to the upper body 30
becomes easier. In addition, the top secondary battery modules 110a
and 110b are stably supported by the shoulders 32a and 32b from
below.
[0054] The base 140 may include the top accommodating parts 141a
and 141b which accommodate the top secondary battery modules 110a
and 110b, and the top fixing parts 141aa and 141ba which fix the
top secondary battery modules 110a and 110b to the top
accommodating parts 141a and 141b. Further, the base 140 may
include the back accommodating part 142 which accommodates the back
secondary battery module 120, and the back fixing part 142a which
fixes the back secondary battery module 120 to the back
accommodating part 142. The base 140 may include the side
accommodating parts 143a and 143b which accommodate the side
secondary battery modules 130a and 130b, and the side fixing parts
143aa and 143ba which fix the side secondary battery modules 130a
and 130b to the side accommodating parts 143a and 143b. According
to this configuration, it becomes easy to attach the top secondary
battery modules 110a and 110b, the back secondary battery module
120, and the side secondary battery modules 130a and 130b to the
given positions of the base 140.
[0055] In the state where the secondary battery unit 100 is
attached to the upper body 30, the top accommodating parts 141a and
141b may be disposed so that they open outwardly from the upper
body 30 so that accommodation and removal of the top secondary
battery modules 110a and 110b from outside the upper body 30 are
possible, respectively. The back accommodating part 142 may be
disposed so that they open outwardly from the upper body 30 so that
accommodation and removal of the back secondary battery module 120
from outside the upper body 30 are possible. The side accommodating
parts 143a and 143b may be disposed so that they open outwardly
from the upper body 30 so that accommodation and removal of the
side secondary battery modules 130a and 130b from outside the upper
body 30 are possible, respectively. According to this
configuration, the replacement of the secondary battery module in
the state where the secondary battery unit 100 is attached to the
upper body 30 is possible, and therefore, the replacement of the
secondary battery module becomes easier.
[0056] Further, the base 140 may include the first accommodation
connecting parts 144a and 144b which couple the top accommodating
parts 141a and 141b to the side accommodating parts 143a and 143b,
respectively, the second accommodation connecting parts 145a and
145b which couple the top accommodating parts 141a and 141b to the
back accommodating part 142, respectively, and the third
accommodation connecting parts 146a and 146b which couple the back
accommodating part 142 to the side accommodating parts 143a and
143b, respectively. According to this configuration, since the
accommodating parts 141a, 141b, 142, 143a, and 143b are connected
mutually, it becomes possible to hold the position of each
accommodating part on the base 140 (i.e., a relative position of
each accommodating part).
[0057] Further, the fixing parts 141aa, 141ba, 142a, 143aa, and
143ba may include a Hook-and-Loop fastener which detachably fixes
the secondary battery modules 110a, 110b, 120, 130a, and 130b to
the accommodating parts 141a, 141b, 142, 143a, and 143b,
respectively. According to this configuration, operation for fixing
and releasing the secondary battery modules 110a, 110b, 120, 130a,
and 130b becomes simpler.
[0058] Further, the secondary battery unit 100 may be provided with
a pair of top secondary battery modules 110a and 110b, and a pair
of side secondary battery modules 130a and 130b. Further, the top
secondary battery modules 110a and 110b may be disposed so as to be
placed on the left and right shoulders 32a and 32b of the humanoid
robot 1, respectively. Further, the side secondary battery modules
130a and 130b may be disposed at the left and right side parts of
the upper body 30, below the joint parts between the left and right
arms 50 and the upper body 30 of the humanoid robot 1,
respectively.
[0059] Further, the back secondary battery module 120 may be
disposed at the position between the pair of top secondary battery
modules 110a and 110b, and between the pair of side secondary
battery modules 130a and 130b. According to this configuration, it
becomes possible to symmetrically dispose the top secondary battery
modules 110a and 110b, the side secondary battery modules 130a and
130b, and the back secondary battery module 120 in the
left-and-right direction with respect to the center axis of the
humanoid robot 1. Therefore, it is suppressed that the center of
gravity of the humanoid robot 1 is located at the position which is
offset in the left-and-right direction.
[0060] The humanoid robot 1 according to this embodiment is
provided with the secondary battery unit 100 and the upper body 30.
According to this configuration, similar effects to the secondary
battery unit 100 according to the above embodiment can be
acquired.
OTHER EMBODIMENTS
[0061] Although the example of the embodiment of the present
disclosure is described above, the present disclosure is not
limited to the above embodiment. That is, various modifications and
improvements are possible without departing from the scope of the
present disclosure. For example, those in which various
modifications are applied to the embodiment, and the modes
established by combining components in different embodiments, are
also encompassed within the scope of the present disclosure.
[0062] For example, although the secondary battery unit 100
according to the above embodiment is provided with the top
secondary battery modules 110a and 110b, the back secondary battery
module 120, and the side secondary battery modules 130a and 130b,
it is not limited to this configuration. For example, the secondary
battery unit 100 may not be provided with the top secondary battery
modules 110a and 110b, the back secondary battery module 120, or
the side secondary battery modules 130a and 130b.
[0063] For example, the secondary battery unit 100 may be provided
with the back secondary battery module 120 disposed at the back
part of the upper body 30, and the side secondary battery modules
130a and 130b disposed at the side parts of the upper body 30.
According to the above configuration, it becomes possible to lower
the center-of-gravity position of the humanoid robot 1 to which the
secondary battery unit 100 is attached. Alternatively, the
secondary battery unit 100 may be provided with the top secondary
battery modules 110a and 110b and the back secondary battery module
120.
[0064] Further, the secondary battery unit 100 may be provided with
a front secondary battery module disposed at the front part of the
upper body 30, instead of the back secondary battery module 120. In
this case, the secondary battery unit 100 may be provided with the
front secondary battery module, the top secondary battery modules
110a and 110b, and the side secondary battery modules 130a and
130b, or may be provided with the front secondary battery module,
and the side secondary battery modules 130a and 130b, or may be
provided with the front secondary battery module, and the top
secondary battery modules 110a and 110b.
[0065] Moreover, the secondary battery unit 100 may be provided
with further secondary battery module(s). For example, the further
secondary battery modules may be disposed at the front part of the
upper body 30 and the lower body 40.
[0066] In the secondary battery unit 100 according to the above
embodiment, although the top secondary battery modules 110a and
110b are disposed so as to be separated from each other, they may
be integrated. Alternatively, the top secondary battery module 110
may include three or more separately-disposed secondary battery
modules. Similarly, although the side secondary battery modules
130a and 130b are disposed so as to be separated from each other,
they may be integrated. Alternatively, the side secondary battery
module 130 may include three or more separately-disposed secondary
battery modules. Further, the back secondary battery module 120 may
include two or more separately-disposed secondary battery
modules.
[0067] Moreover, although in the secondary battery unit 100
according to the above embodiment, the base 140 is attached to the
upper body 30 by fitting onto the shoulders 32a and 32b, it is not
limited to this configuration. For example, the base 140 may be
configured to fit onto the upper body 30 or the neck 20.
Alternatively, the base 140 may be configured to be attached to the
upper body 30 by a fastening member such as screws.
[0068] Further, although the secondary battery unit 100 according
to the above embodiment is disposed at the back part of the upper
body 30, it is not limited to this configuration. For example, the
secondary battery unit 100 may be disposed at the front part of the
upper body 30, or may be disposed over the front part and the back
part of the upper body 30. Alternatively, the secondary battery
unit 100 may be disposed at the back part, the front part, or both
the front part and the back part of the lower body 40. Further, the
secondary battery unit 100 may be disposed over the upper body 30
and the lower body 40. For example, at least one of the secondary
battery modules may be disposed at the front part, the back part,
the left and right side parts of the lower body 40, or the crotch
part between the legs 60.
DESCRIPTION OF REFERENCE CHARACTERS
[0069] 1 Humanoid Robot [0070] 30 Upper Body [0071] 32a, 32b
Shoulder [0072] 100 Secondary Battery Unit [0073] 110, 110a, 110b
Top Secondary Battery Module (Second Secondary Battery Module)
[0074] 120 Back Secondary Battery Module (First Secondary Battery
Module) [0075] 130, 130a, 130b Side Secondary Battery Module
(Second Secondary Battery Module) [0076] 140 Base [0077] 141a Top
Left Accommodating Part (Second Accommodating Part) [0078] 141aa
Top Left Fixing Part (Second Fixing Part) [0079] 141b Top Right
Accommodating Part (Second Accommodating Part) [0080] 141ba Top
Right Fixing Part (Second Fixing Part) [0081] 142 Back
Accommodating Part (First Accommodating Part) [0082] 142a Back
Fixing Part (First Fixing Part) [0083] 143a Side Left Accommodating
Part (Second Accommodating Part) [0084] 143aa Side Left Fixing Part
(Second Fixing Part) [0085] 143b Side Right Accommodating Part
(Second Accommodating Part) [0086] 143ba Side Right Fixing Part
(Second Fixing Part) [0087] 147a, 147b Attaching Part (Fitting
Part) [0088] 150 Secondary Battery
* * * * *